Just listening. IMO, this the way to go if one wants a general way to deal with backlash in general setups.
In some scenarios having access to the kinematics from the module could be interesting, for example in parallel machines you can have backlash in a given joint, and the way it plays can be position dependent in a complex way, it can even be dynamics or kinetostatics dependent. A fallback behavior for the module so that it offers compatibility with today's implementation would be nice. Javier On Mon, Jul 27, 2015 at 8:29 AM, Gene Heskett <ghesk...@wdtv.com> wrote: > > > On Sunday 26 July 2015 23:31:32 Brian wrote: > > I have had an idea lingering in my head for quite some time now. How > > about moving the screw/backlash comp out of motion and implement it > > with a HAL module. The purpose would be for two goals. One it would > > make it more logical to implement more sophisticated joint > > compensation, such as thermal expansion, deflection, and belt stretch. > > Second, it would set the stage to be more friendly for dual > > scale/motor feedback, because it would give control over where the > > compensation is added in the feedback loop. > > > > Is this something anybody has thought about? If it seems like > > something that would be useful, I'll start a branch and work it out. > > > > Brian > > It does sound useful, Brian, particularly for thermal expansion as a > mills z axis heats up. If a sensor can measure the quill temp, and > cause a corresponding compensating rise, I could do pcb etching without > over digging at the end of the job because the spindle has thermally > grown 3 thousandths. I can control it now only if I have lots of fans > blowing on the machine to carry away the heat. > > Cheers, Gene Heskett > -- > "There are four boxes to be used in defense of liberty: > soap, ballot, jury, and ammo. Please use in that order." > -Ed Howdershelt (Author) > Genes Web page <http://geneslinuxbox.net:6309/gene> > > > ------------------------------------------------------------------------------ > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > ------------------------------------------------------------------------------ _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
